CN104604154A - Geo-fencing - Google Patents

Abstract

A balloon includes a cut-down device, a payload, and an envelope. A control system could be configured to determine a position of the balloon with respect to a predetermined zone. The cut-down device could be operable to cause at least the payload to land in response to determining that the position of the balloon is within the predetermined zone. The predetermined zone includes an exclusion zone and a shadow zone. The shadow zone could include locations from which the balloon would be likely to drift into the exclusion zone based on, e.g., historic weather patterns or expected environmental conditions. Boundaries of the shadow zone could be determined based on, for example, a probability of the balloon entering the exclusion zone.

Description

Geography fence

Background technology

Unless otherwise indicated, otherwise the material described in this part is not the prior art of the claim in the application, and because be included in, to be just recognized as in this part be not prior art.

The computing equipment of the equipment possessing networked capabilities of such as personal computer, laptop computer, flat computer, cell phone and numerous types and so on the modern life many in just more and more general.Like this, the demand for the data connectivity via internet, cellular data network and other such network increases.But in many areas in the world, data connectivity is still unavailable, if or can obtain, be then insecure and/or with high costs.Therefore, extra network infrastructure is wished.

Summary of the invention

In a first aspect, a kind of method is provided.The method comprises determines the position of balloon relative to presumptive area.This presumptive area comprises exclusion area and shadow region.Balloon comprises incision equipment, payload and air bag.The method also comprises in response to determining that the position of balloon utilizes incision equipment to make at least payload land in presumptive area.

In second aspect, provide a kind of balloon.This balloon comprises air bag, payload, incision equipment and control system.Incision equipment is configured such that at least payload is landed.Control system is configured to: i) determine the position of balloon relative to presumptive area, this presumptive area comprises exclusion area and shadow region; And ii) in response to determining that the position of balloon is in presumptive area, make incision equipment that at least payload is landed.

In a third aspect, a kind of non-transitory computer-readable medium storing instruction is provided.These instructions can be performed by computing equipment and make this computing equipment n-back test.These functions comprise determines the position of balloon relative to presumptive area.This presumptive area comprises exclusion area and shadow region.Balloon comprises incision equipment, payload and air bag.These functions also comprise in response to determining that the position of balloon utilizes incision equipment to make at least payload land in presumptive area.

In fourth aspect, provide a kind of method.The method comprises the situation determining balloon.Balloon comprises incision equipment, payload and air bag.The method also comprises in response to determining the situation of balloon to mate with at least one in multiple predetermined state and utilizes incision equipment that at least payload is landed.

By taking the circumstances into consideration to read following detailed description in detail with reference to accompanying drawing, those of ordinary skill in the art will know these and other side, advantage and alternative.

Accompanying drawing explanation

Fig. 1 is the simplified block diagram illustrating balloon network according to example embodiment.

Fig. 2 is the block diagram illustrating balloon network control system according to example embodiment.

Fig. 3 is the simplified block diagram illustrating aerostat according to example embodiment.

Fig. 4 is the simplified block diagram illustrating the balloon network comprising supernode and child node according to example embodiment.

Fig. 5 A illustrates the vertical view of the balloon operation scenario in the very first time according to example embodiment.

Fig. 5 B illustrates the front view of the balloon operation scenario in the very first time according to example embodiment.

Fig. 5 C illustrates the front view of the balloon operation scenario in the second time according to example embodiment.

Fig. 5 D illustrates the front view of balloon operation scenario according to example embodiment.

Fig. 6 A is the flow chart illustrating method according to example embodiment.

Fig. 6 B is the flow chart illustrating method according to example embodiment.

Fig. 7 is the schematic diagram of the computer program according to example embodiment.

Embodiment

This document describes exemplary method and system.Any example embodiment described herein or feature not necessarily will be interpreted as than other embodiment or feature more preferably or favourable.Example embodiment described herein is not for limiting.Will readily appreciate that, some aspect of disclosed system and method can be arranged by the configuration that many kinds are different and combine, and all these are susceptible to all herein.

In addition, the specific arrangements shown in accompanying drawing should not be regarded as restrictive.Should be appreciated that other embodiment can comprise more or less often kind of element shown in given accompanying drawing.In addition, some illustrated elements can be combined or omit.In addition, example embodiment can comprise not shown element in accompanying drawing.

1. summarize

Example embodiment disclosed herein relates to the position determining balloon (balloon) relative to the presumptive area of comprise exclusion area (exclusion zone) and shadow region (shadow zone).Balloon comprises incision equipment (cut-down device), payload (payload) and air bag (envelope).Example embodiment also relates in response to determining that the position of balloon utilizes incision equipment to make at least payload land in presumptive area.

Such as, can using method and device prevent the balloon in aerostat network from entering certain spatial domain by making at least payload of balloon land based on the position of balloon.Such as, incision equipment can make at least payload land when balloon arrives predetermined " geography fence (geo-fence) " or predetermined region.Geography fence can comprise or not comprise vertical confinement.Such as, region can comprise any spatial domain above particular country, and the spatial domain in can only include specific airport 10 kilometers, another region and below 60,000 foot.Geography fence can enclose the restriction spatial domain of a geographic area or other type any, and it can be called as exclusion area.Alternatively or extraly, geography fence not only can comprise exclusion area but also comprise the shadow region around exclusion area.Shadow region can comprise following position: based on such as weather history pattern or expection environmental aspect, balloon likely can from these position excursions to exclusion area.The probability that can enter exclusion area based on such as balloon determines shadow region.Such as, the border that shadow region can exceed exclusion area extends to as upper/lower positions: in these positions, and compared with other position outside shadow region, it is larger than predetermined possibility that the pattern of wind makes balloon enter the possibility of exclusion area.The probability that can will enter exclusion area based on payload after incision event determines shadow region.Such as, shadow region can comprise the union in these regions following: when not having incision, balloon will enter the region of probability higher than first threshold probability of exclusion area, and after incision payload by the probability that lands in the exclusion area region higher than Second Threshold probability.Extraly or alternatively, the border in shadow region can based on the situation of balloon.Such as, hardware and/or software fault (such as, Parachute Opening system does not work) can make the border in shadow region be adjusted.The border in shadow region also can based on balloon from exclusion area manipulation or manipulated the ability left.Such as, the shadow region of balloon of the ability having level or vertically adjust its position can comprise these regions following: from these regions, no matter carries out anyly turning to the trial left, and the probability that balloon is all bound to enter exclusion area is greater than threshold probability.In addition, shadow region can based on the situation in other places.Such as, the country of controlled air space can give the license that balloon enters its spatial domain.Can correspondingly adjust shadow region and/or exclusion area.In addition, exclusion area or shadow region can based on the types of balloon.Such as, spatial domain can be restricted to the balloon only allowing to be less than a certain size, or only allow the balloon comprising or do not comprise a capability.

Method disclosed herein can partially or completely be performed by the one or more balloons in aerostat network.Such as, the balloon in aerostat network can determine that it corresponds to the position of presumptive area.This presumptive area can comprise exclusion area (such as, the region that balloon enters can be forbidden), with shadow region (such as, based on the prospective ability of position of expection environmental aspect and this expection environmental conditions balloon, the possibility that balloon enters exclusion area is greater than the region of predetermined possibility).Balloon can utilize at least one in such as the following to determine its position relative to presumptive area: global positioning system (global positioningsystem, GPS), the map of inertial navigation system (inertial navigation system, INS) and at least this presumptive area.

Various method can be utilized determine expection environmental aspect.Such as, can determine to expect environmental aspect based on the sensing data from the transducer (such as, airspeed sensor, baroceptor etc.) on balloon.In other embodiments, can determine to expect environmental aspect based on the information from the transducer (transducer, satellite image etc. such as, on other balloon) not on balloon.In a further embodiment, can determine to expect environmental aspect based on Atmospheric models.In other embodiments, can determine to expect environmental aspect based on the historical record of wind speed and direction.The border in shadow region at least can be determined based on the combination on border of expection environmental aspect and exclusion area.

After determining that balloon is in this presumptive area, the method can comprise balloon and make incision equipment that at least payload is landed.In certain embodiments, air bag physically can be separated with payload.In other embodiments, ballast (ballast) can be added and/or lift gas can be discharged to reduce the buoyancy of air bag from air bag.Other means that at least payload is landed are made to be possible.

Other method disclosed herein can partially or completely be performed by server and/or server network.In the exemplary embodiment, balloon can be determined by server network relative to the position of presumptive area.Server network can receive information about the expection environmental aspect of balloon and at least determine the border in shadow region based on the border of expection environmental aspect and exclusion area.Server network can operate in response to determining that the position of balloon (such as, by balloon sending controling instruction) in presumptive area makes incision equipment make at least payload land.

One or more balloon in aerostat network and other between server are possible alternately in context of the present disclosure.

Also describe example balloon in the disclosure.Example balloon can comprise air bag, payload, incision equipment and control system.Incision equipment can be configured such that at least payload is landed.Control system can be configured to: i) determine the position of balloon relative to presumptive area; And ii) in response to determining that the position of balloon makes incision equipment make at least payload land in this presumptive area.This presumptive area can comprise exclusion area and shadow region.Balloon can be the balloon in aerostat network.

In certain embodiments, incision equipment can comprise the metal wire of rope and this rope contiguous.Rope is mechanically connected to air bag and payload.Metal wire (such as, nichrome wire) can operate in response to the signal of telecommunication from incision equipment and heat.Rope can be configured in response to the heat sent from metal wire and disconnect.In other embodiments, incision equipment can operate to make air bag deflation (such as, discharging lift gas from air bag) and/or accept more multiple pressure loading (via pump) to drop to ground with part or all making payload and air bag.

Will be understood that, balloon can comprise than those more or less elements disclosed herein.In addition, in context of the present disclosure, the element of balloon can be configured to and/or can operate perform more or less function.

In certain embodiments, each element of balloon can be involved at least one balloon in aerostat network.In other embodiments, some or all elements can comprise following system: the position of the element of this system can with other element sepatation disclosed herein.Thus system can operate in a distributed way.

There is disclosed herein the non-transitory computer-readable medium storing instruction.These instructions can perform by computing equipment those similar functions computing equipment being performed and describes in preceding method.

It will be understood to those of skill in the art that, many different concrete grammars and system can be used to determine balloon relative to comprising exclusion area and the position of the presumptive area in shadow region, and in response to determining that the position of balloon utilizes incision equipment to make at least payload of balloon land in this presumptive area.Each in these concrete grammars and system is susceptible to herein, and several example embodiment are hereafter describing.

2. example system

Fig. 1 is the simplified block diagram illustrating balloon network 100 according to example embodiment.As shown in the figure, balloon network 100 comprises balloon 102A to 102F, and these balloons are configured to via free space optical link 104 and communicate with one another.Balloon 102A to 102F can be configured to via RF link 114 extraly or alternatively and communicate with one another.Balloon 102A to 102F can serve as the mesh network for packet data communication jointly.In addition, at least some in balloon 102A with 102B can be arranged to and communicate with 112RF with the continental rise station 106 via corresponding RF link 108.In addition, some balloons, such as balloon 102F, can be configured to communicate with the continental rise station 112 via optical link 110.

In the exemplary embodiment, balloon 102A to 102F is the aerostat be deployed in stratosphere.At medium latitude, stratosphere comprises the height on earth's surface between about 10 kilometers (km) to 50km height.In south poles, stratosphere starts from the height of about 8km.In the exemplary embodiment, operate in the altitude range that aerostat can be configured to substantially in the stratosphere with relatively low wind speed (such as, between 5 to 20 mph. (mph)).

More specifically, in aerostat network, balloon 102A to 102F can be configured to the high speed operation (although other is highly also possible) between 18km to 25km substantially.This altitude range may be favourable due to several reasons.Particularly, this one deck stratospheric generally has relatively low wind speed (wind such as, between 5 to 20mph) and relatively little turbulent flow.In addition, although wind between 18km to 25km can change according to season along with latitude, modeling can be changed in quite accurate mode to these.Extraly, the height of more than 18km has exceeded the ceiling altitude of specifying for business air traffic usually.Therefore, when balloon is deployed between 18km to 25km, not the problem that will worry to the interference of commercial airliner.

In order to send data to another balloon, given balloon 102A to 102F can be configured to send light signal via optical link 104.In the exemplary embodiment, given balloon 102A to 102F can use one or more High Power LED (light-emitting diode, LED) to send light signal.Alternatively, some or all the comprised laser systems in balloon 102A to 102F, for the free space optical communication by optical link 104.The free space optical communication of other type is possible.In addition, in order to via optical link 104 from another balloon receiving optical signals, given balloon 102A to 102F can comprise one or more optical receiver.The additional detail of example balloon is discussed more in detail at hereinafter with reference Fig. 3.

In another aspect, balloon 102A to 102F can utilize in various different RF air interface protocol one or more come communicate with 112 with the continental rise station 106 via corresponding RF link 108.Such as, some or all in balloon 102A to 102F can be configured to utilize the various cellular protocol of agreement, such as GSM, CDMA, UMTS, EV-DO, WiMAX and/or LTE and so on of describing in IEEE 802.11 (comprising any revised edition of IEEE802.11) and/or communicate with 112 with the continental rise station 106 for one or more proprietary protocols etc. of balloon-ground RF communication exploitation.

In another aspect, following scene can be there is: RF link 108 is not for balloon to provide the link capacity of expectation to the communication on ground.Such as, in order to provide from the back haul link of continental rise gateway and other scene, the capacity increased can be wished.Therefore, example network also can comprise down link balloon, and these down link balloons can provide high power capacity Air-Ground link.

Such as, in balloon network 100, balloon 102F is configured to down link balloon.The same with other balloon in example network, down link balloon 102F can operate for the optical communication via optical link 104 and other balloon.But down link balloon 102F also can be arranged to via the free space optical communication of optical link 110 with the continental rise station 112.Therefore optical link 110 can be used as the high power capacity link (compared with RF link 108) between balloon network 100 with the continental rise station 112.

Note, in some implementations, down link balloon 102F can operate extraly for communicating with the RF of the continental rise station 106.In other cases, optical link only can be used for the communication of balloon to ground by down link balloon 102F.In addition, although the layout shown in Fig. 1 only includes a down link balloon 102F, example balloon network also can comprise multiple down link balloon.On the other hand, balloon network also can be embodied as without any down link balloon.

In other implementation, replace free-space optical communication system or except free-space optical communication system, down link balloon can be equipped with special high bandwidth RF communication system for the communication of balloon to ground.High bandwidth RF communication system can take the form of radio ultra wide band system, and this radio ultra wide band system can provide the RF link with the capacity substantially identical with one of optical link 104.Other form is also possible.

The continental rise station, such as the continental rise station 106 and/or 112, can take various forms.Usually, the continental rise station can comprise the assembly of such as transceiver, transmitter and/or receiver and so on, for via RF link and/or optical link and balloon network service.In addition, the continental rise station can use various air interface protocol to be communicated with balloon 102A to 102F by RF link 108.Like this, the continental rise station 106 and 112 can be configured to access point, and via this access point, various equipment can be connected to balloon network 100.Without departing from the scope of the invention, the continental rise station 106 and 112 can have other configuration and/or play other effect.

In another aspect, except land-based communication link or as the replacement of land-based communication link, some or all in balloon 102A to 102F can be configured to set up communication link with space-based satellite.In certain embodiments, balloon can via optical link and satellite communication.But the satellite communication of other type is possible.

In addition, some continental rise stations, such as the continental rise station 106 and 112, can be configured to the gateway between balloon network 100 and other network one or more.Such continental rise station 106 and 112 thus can be used as balloon network and the interface between internet, the network of cellular service provider and/or the network of other type.Other change configured about this configuration and the continental rise station 106 and 112 is also possible.

2a) mesh network function

As specified, balloon 102A to 102F can serve as mesh network jointly.More specifically, because balloon 102A to 102F can utilize free space optical link and communicate with one another, so these balloons can serve as Free Space Optics mesh network jointly.

In mesh network configuration, each balloon 102A to 102F can serve as the node of mesh network, and this node operable receives the data that are sent to it and routes data to other balloon.Like this, by determining the suitable sequence of the optical link between source balloon and destination balloon, data can be routed to destination balloon from source balloon.These optical links can be collectively referred to as " light path (lightpath) " for the connection between source balloon and destination balloon.In addition, each optical link can be called as " the jumping (hop) " in light path.

In order to as mesh network operation, balloon 102A to 102F can adopt various route technology and self-regeneration algorithm.In certain embodiments, balloon network 100 can adopt self adaptation or dynamic routing, and the light path wherein between source balloon and destination balloon is determined when needs connect and set up, and the some time is removed afterwards.In addition, when using self adaptation route, dynamically light path can be determined according to the current state of balloon network, past state and/or predicted state.

In addition, along with balloon 102A to 102F is relative to each other and/or relative to ground moving, network topology alterable.Therefore, example balloon network 100 can apply MESH protocol upgrades network state along with the change in topology of network.Such as, in order to solve the mobility of balloon 102A to 102F, balloon network 100 can adopt and/or revise the various technology adopted in mobile self-grouping network (mobile ad hoc network, MANET) adaptively.Other example is also possible.

In some implementations, balloon network 100 can be configured to transparent network mesh network.More specifically, in transparent balloon network, balloon can comprise the assembly of the physical exchange for complete optics, wherein in the physics route of light signal, does not relate to any electric component.Thus in the transparent configuration with optics exchange, signal rows is through the multi-hop light path of complete optics.

In other implementation, balloon network 100 can realize opaque Free Space Optics mesh network.In opaque configuration, some or all balloons 102A to 102F can realize light-electrical-optical (optical-electrical-optical, OEO) and exchange.Such as, some or all balloons can comprise the optical crossover that the OEO for light signal changes and connect (optical cross-connect, OXC).Other opaque configuration is also possible.Extraly, comprise that both to have had the network configuration that transparent fragment also has a routed path of opaque fragment be possible.

In another aspect, the balloon in example balloon network 100 can realize wavelength division multiplexing (wavelengthdivision multiplexing, WDM), and this can help to increase link capacity.When realizing WDM with transparent exchange, the physics light path through balloon network can be subject to " wavelength continuity constraint ".More specifically, because the exchange in transparent network is complete optics, so may be necessary to assign identical wavelength to all optical links in given light path.

On the other hand, opaque configuration can avoid wavelength continuity to retrain.Particularly, the balloon in opaque balloon network can comprise the OEO switching system that can be used to wavelength convert.As a result, balloon can at the wavelength of each the jumping place transmitting photo-signal along light path.Alternatively, optical wavelength conversion can only occur in selected jumping place along light path.

In addition, various routing algorithm can be adopted in opaque configuration.Such as, in order to determine main optical path and/or one or more different light path for subsequent use for given connection, Shortest path routing technology be applied or be considered to example balloon can, the algorithm of such as Dijkstra and k shortest path, and/or edge and node diverse or disjoint path are by, algorithm of such as Suurballe etc.Extraly or alternatively, the technology for maintaining certain quality of service (quality of service, QoS) can be adopted when determining light path.Other technology is also possible.

2b) station keeps function

In the exemplary embodiment, balloon network 100 can realize the network topology that station maintenance function helps provide expectation.Such as, the station keeps relating to each balloon 102A to 102F and maintains and/or move to ad-hoc location (and may at the ad-hoc location relative to ground) relative to other balloons one or more in network.As a part for this process, each balloon 102A to 102F can realize the station and keep function to determine it is expecting the expected location in topology, and if necessary, then determines how to move to desired locations.

Expect that topology can be different according to specific implementation.In some cases, balloon can realize station maintenance and provide substantially homogeneous topology.Under these circumstances, given balloon 102A to 102F can realize the station and keep function himself to be positioned at the contiguous balloon in balloon network 100 at a distance of substantially the same distance (or within the scope of certain distance).

In other cases, balloon network 100 can have non-homogeneous topology.Such as, example embodiment can relate to following topology: in these topologys, due to a variety of causes, and balloon distributes more intensive or more not intensive in some region.Exemplarily, in order to help to meet typical more high bandwidth requirements in urban area, balloon can be trooped more thick and fast on urban area.Due to similar, the land side that is distributed in of balloon can than more intensive above large water body.Other examples many of non-homogeneous topology are possible.

In another aspect, the topology of example balloon network can be adaptability amendment.Particularly, the station of example balloon keeps function can allow balloon according to the change of the expectation topology of network to adjust its respective location.Such as, one or more balloon is movable to new position to increase or to reduce the density of balloon in given area.Other example is possible.

In certain embodiments, whether balloon network 100 can adopt energy function should move to determine balloon and/or how should move the topology providing expectation.Particularly, given balloon state and near some or all the state of balloon can be the input of energy function.The current state of given balloon and neighbouring balloon can be applied to the network state (such as, corresponding with expecting topology state) of expectation by energy function.Subsequently by determining that the gradient of energy function determines to indicate the vector of the expectation movement of given balloon.Given balloon can be determined subsequently in order to realize the movement expected and the suitable action that will take.Such as, balloon can determine one or more Height Adjustment with make wind will with expect mode to move balloon.

2c) to the control of the balloon in balloon network

In certain embodiments, netted networking and/or the station keep function can be centralized.Such as, Fig. 2 is the block diagram illustrating balloon network control system according to example embodiment.Particularly, Fig. 2 shows dcs, and it comprises central control system 200 and several area control system 202A to 202C.This control system can be configured to as balloon network 204 coordinates some function, and therefore can be configured to control for balloon 206A to 206I and/or coordinate some function.

In the illustrated embodiment in which, central control system 200 can be configured to communicate with balloon 206A to 206I via several area control system 202A to 202C.These area control systems 202A to 202C can be configured to from the balloon received communication each geographic area that it covers and/or aggregate data, and by these communication and/or data relay to central control system 200.In addition, area control system 202A to 202C can be configured to the balloon that communication is routed to from central control system 200 its respective geographic area.Such as, as shown in Figure 2, area control system 202A can between balloon 206A to 206C and central control system 200 trunking traffic and/or data, area control system 202B can between balloon 206D to 206F and central control system 200 trunking traffic and/or data, and area control system 202C can between balloon 206G to 206I and central control system 200 trunking traffic and/or data.

In order to promote the communication between central control system 200 and balloon 206A to 206I, some balloon can be configured to the down link balloon that can operate to communicate with area control system 202A to 202C.Therefore, each area control system 202A to 202C can be configured to the one or more down link balloon communications in each geographic area covered with it.Such as, in the illustrated embodiment in which, balloon 206A, 206F and 206I are configured to down link balloon.Like this, area control system 202A to 202C can communicate with 206I with balloon 206A, 206F with 212 via optical link 208,210 respectively respectively.

In illustrated configuration, some in balloon 206A to 206I, are only had to be configured to down link balloon.Balloon 206A, 206F of being configured to down link balloon and 206I can be relayed to other balloon balloon network from central control system 200 by communicating, such as balloon 206B to 206E, 206G and 206H.But should be appreciated that in some implementations, likely all balloons all can serve as down link balloon.In addition, although Fig. 2 shows multiple balloon be configured to down link balloon, also likely balloon network only includes a down link balloon, or may not even comprise down link balloon.

Note, area control system 202A to 202C may in fact just be configured to and the continental rise station of the particular type of down link balloon communication (such as, the continental rise station 112 of such as Fig. 1).Thus, although not shown in fig. 2, control system can be realized in conjunction with the continental rise station of other type (such as, access point, gateway etc.).

In centerized fusion is arranged, all that as shown in Figure 2, central control system 200 (and area control system 202A to 202C also possibility) can be balloon network 204 and coordinates some netted network savvy.Such as, balloon 206A to 206I can send some state information to central control system 200, and central control system 200 can utilize these state informations to determine the state of balloon network 204.State information from given balloon can comprise position data, optical link information (such as, the wavelength that balloon is set up with it on the identity of other balloon of optical link, the bandwidth of link, link uses and/or availability, etc.), the information of wind data that balloon is collected and/or other type.Therefore, central control system 200 can assemble the state information from some or all in balloon 206A to 206I to determine the integrality of network.

The integrality of network can be used for coordinating and/or promoting some netted network savvy, such as light path is determined in connection subsequently.Such as, central control system 200 can determine present topology based on the coherent condition information from some or all in balloon 206A to 206I.Topology can provide the view of the wavelength availability on current optical link available in balloon network and/or link.This topology can be sent to some or all in balloon subsequently, thus makes it possible to adopt route technology for being selected suitable light path (and may select light path for subsequent use) by the communication of balloon network 204.

In another aspect, central control system 200 (and area control system 202A to 202C also possibility) also can be balloon network 204 and coordinates some station maintenance function.Such as, central control system 200 can be input to energy function the state information received from balloon 206A to 206I, the present topology of network and the topology of expectation can compare by this energy function effectively, and be provided as the vector (if having movement) in the direction of each balloon instruction movement, can move towards the topology expected to make balloon.In addition, central control system 200 can use height wind data to determine can be initiated to realize each Height Adjustment towards the movement expecting topology.Central control system 200 also can provide and/or support that other station keeps function.

Fig. 2 shows the distributed arrangement providing centerized fusion, and wherein area control system 202A to 202C coordinates the communication between central control system 200 and balloon network 204.This layout provides centerized fusion can be useful for the balloon network for covering large geographic area.In certain embodiments, distributed arrangement even can support that each place provides the global balloon network of covering on earth.Certainly, distributed AC servo system is arranged in also can be useful in other scene.

In addition, it is also possible for should be appreciated that other control system is arranged.Such as, some implementations can relate to the Centralized Control System with extra layer (such as, the subregion system in area control system, etc.).Alternatively, controlling functions can be provided by single Centralized Control System, this system can with the direct communication of one or more down link balloon.

In certain embodiments, depend on implementation, can shared in varying degrees by the gentle net network of continental rise control system balloon network-based control and coordination.In fact, in certain embodiments, continental rise control system can be there is no.In such an embodiment, all-network control and coordination function can be realized by balloon network self.Such as, some balloon can be configured to provide and central control system 200 and/or the same or analogous function of area control system 202A to 202C.Other example is also possible.

In addition, to balloon network-based control and/or coordinate can be distributed.Such as, each balloon can by relays status information to balloon near some or all, and from balloon receiving status information near some or all.In addition, each balloon relays status information that it can be received from neighbouring balloon is to balloon near some or all.When all balloons do all like this, each balloon can determine separately the state of network.Alternatively, some balloon can be designated as the given moiety aggregation state information into network.These balloons subsequently can the integrality determining network coordinated with each other.

In addition, in certain aspects, partially or completely can localize to balloon network-based control, thus make it not rely on the integrality of network.Such as, individual balloon can realize only considering that the station of neighbouring balloon keeps function.Particularly, each balloon can realize the energy function the state of himself state and neighbouring balloon taken into account.This energy function can be used for the desired locations maintaining and/or move to relative to neighbouring balloon, and need not consider the expectation topology on overall network.But, when each balloon keeps realizing this energy function in order to the station, balloon overall network can maintain the topology of expectation and/or move towards the topology expected.

Exemplarily, each balloon A can receive the range information d relative to each in its k nearest-neighbors ₁to d _k.Each balloon A can be considered as virtual spring to the distance of each in k balloon, and wherein vector representation is from the first nearest-neighbors balloon i towards the force direction of balloon A, and the amplitude of power and d _iproportional.Balloon A can sue for peace to each in k vector, and summation vector is the vector of the expectation movement of balloon A.The movement that balloon A highly attempts realizing expecting by controlling it.

Alternatively, this process can assign the power amplitude of each in these fictitious forces to equal d _i× d _i, wherein d _isuch as proportional with the distance to second near neighbours' balloon.Other algorithm of assigning power amplitude for each balloon in mesh network is possible.

In another embodiment, similar process can be performed for each in k balloon, and the motion-vector that each balloon can be planned is sent to its local neighbours.The more wheels of the plan motion-vector of each balloon is become more meticulous and can be carried out based on the corresponding plan motion-vector of its neighbours.It is evident that for those skilled in the art, other algorithm can be realized to attempt maintaining one group of balloon spacing and/or specific network capacity level above given geographical position in balloon network.

2d) example balloon configuration

Various types of balloon system can be comprised in example balloon network.As above, example embodiment can utilize aerostat, and these aerostats can operate in the altitude range between 18km to 25km usually.Fig. 3 shows aerostat 300 according to example embodiment.As shown in the figure, the balloon 300 incision equipment 308 that comprises air bag 302, shroud (skirt) 304, payload 306 and attach between balloon 302 and payload 306.

Air bag 302 and shroud 304 can be taked can be various forms current known or still leaved for development.Such as, air bag 302 and/or shroud 304 can be made up of the material comprising metallized polyester film (Mylar) or biaxially oriented polyester film (BoPet).Extraly or alternatively, some or all in air bag 302 and/or shroud 304 can be made up of the high flexibility latex material of such as chlorobutadiene and so on or elastomeric material.Other material is also possible.In addition, the shape of air bag 302 and shroud 304 and large I different according to specific implementation.Extraly, air bag 302 can be filled with various dissimilar gas, such as helium and/or hydrogen.The gas of other type is also possible.

The payload 306 of balloon 300 can comprise processor 313 and on-board data storage device, such as memory 314.Memory 314 can be taked the form of non-transitory computer-readable medium or comprise non-transitory computer-readable medium.Non-transitory computer-readable medium can store instruction, and these instructions can be accessed by processor 313 and be performed to perform balloon function described herein.Thus processor 313 combines with the instruction stored in memory 314 and/or other assembly and can serve as computer system 312 and serve as the controller of balloon 300 further.

The payload 306 of balloon 300 also can comprise the equipment of other type various and system to the function providing several different.Such as, payload 306 can comprise optical communication system 316, and this optical communication system 316 can send light signal via superbright LED information display system 320, and can via optical communication receiver 322 (such as, photodiode receiver system) receiving optical signals.In addition, payload 306 can comprise RF communication system 318, and this RF communication system 318 can send and/or receive RF communication via antenna system 340.

Payload 306 also can comprise the various assembly supply electric power of power supply 326 to balloon 300.Power supply 326 can comprise rechargeable battery.In other embodiments, power supply 326 can represent other means for generation of electric power as known in the art extraly or alternatively.In addition, balloon 300 can comprise solar electric power generation system 327.Solar electric power generation system 327 can comprise solar panel and can be used for generating the electric power charging to power supply 326 and/or provided and delivered by power supply 326.

Payload 306 can comprise navigation system 324 extraly.Navigation system 324 can comprise such as global positioning system (GPS), inertial navigation system and/or star-tracking system.Navigation system 324 can comprise various motion sensor (such as, accelerometer, magnetometer, gyroscope and/or compass) extraly or alternatively.

Navigation system 324 can comprise one or more video and/or stationary cameras extraly or alternatively, and/or for catching the various transducers of environmental data.

Assembly in payload 306 and some or all in system can realize in radiosonde (radiosonde) or other detector, this radiosonde or other detector can operate to measure such as pressure, highly, geographical position (latitude and longitude), temperature, relative humidity and/or wind speed and/or wind direction and out of Memory.

As specified, balloon 300 comprises superbright LED information display system 320, for the free space optical communication with other balloon.Like this, optical communication system 316 can be configured to send free space light signal by modulation superbright LED information display system 320.Optical communication system 316 can real existing machinery system and/or hardware, firmware and/or software.Usually, the mode realizing optical communication system can be different according to embody rule.Optical communication system 316 and other associated component are hereafter being described in more detail.

In another aspect, balloon 300 can be arranged to Altitude control.Such as, balloon 300 can comprise variable buoyancy system, and this system volume and/or density that can be configured to by adjusting the gas in balloon 300 changes the height of balloon 300.Variable buoyancy system can take various forms, and can be generally anyly change the volume of gas in air bag 302 and/or the system of density.

In the exemplary embodiment, variable buoyancy system can comprise the pouch (bladder) 310 being positioned at air bag 302 inside.Pouch 310 can be the elastic cavity being configured to keep liquid and/or gas.Alternatively, pouch 310 does not need at air bag 302 inner.Such as, pouch 310 can be to be pressurized to the rigidity pouch far exceeding neutral pressure.Therefore density and/or volume by changing the gas in pouch 310 adjust the buoyancy of balloon 300.In order to change the density in pouch 310, balloon 300 can be configured with system and/or mechanism for heating and/or cool the gas in pouch 310.In addition, in order to change volume, balloon 300 can comprise for adding gas to pouch 310 and/or removing pump or the further feature of gas from pouch 310.Extraly or alternatively, in order to change the volume of pouch 310, balloon 300 can comprise the vent valve or further feature that can control to allow gas to overflow from pouch 310.Multiple pouch 310 can be realized in the scope of the present disclosure.Such as, multiple pouch can be used for improving balloon stability.

In the exemplary embodiment, air bag 302 can be filled with helium, hydrogen or other lighter-than-air material.Air bag 302 thus can have related to buoyancy.In such an embodiment, the air in pouch 310 can be considered to have the ballast tank of related downward ballast power.In another example embodiment, by pumping into air (such as utilizing air compressor) and pump air in pouch 310 from pouch 310, the amount of the air in pouch 310 can be changed.By the amount of the air in adjustment pouch 310, ballast power can be controlled.In certain embodiments, ballast power can partly for offsetting buoyancy and/or providing high stability.

In other embodiments, air bag 302 can be rigidity and comprise to enclose (enclosed) volume substantially.Substantially maintaining while this encloses volume, air can be discharged from air bag 302.In other words, enclose in volume and can produce at this and be maintained until small part vacuum.Thus, air bag 302 and enclose volume and can become lta and buoyancy is provided.In other embodiments, can controllably air or other material be incorporated in the partial vacuum enclosing volume to attempt adjustment overall buoyancy and/or to provide Altitude control.

In another embodiment, a part for air bag 302 can be the first color (such as, black) and/or the first material, and the remainder of air bag 302 can have the second color (such as, white) and/or the second material.Such as, the first color and/or the first material can be configured to absorb relatively more substantial solar energy than the second color and/or the second material.Thus rotating balloon can play the effect of gas of heating air bag 302 and air bag 302 inside to make the first material face to the sun.Like this, the buoyancy of air bag 302 can increase.By rotating balloon to make the second material face to the sun, the temperature of the gas of air bag 302 inside can reduce.Therefore, buoyancy can reduce.Like this, by the temperature/volume utilizing solar energy to change the gas of air bag 302 inside, the buoyancy of balloon can be adjusted.In such an embodiment, likely pouch 310 can not be the necessary element of balloon 300.Thus, in the various embodiment be susceptible to, can at least partly by Altitude control that adjustment balloon realizes balloon 300 relative to the rotation of the sun.

In addition, balloon 300 can comprise navigation system (not shown).Navigation system can realize the station and keeps function with the position maintained in the topology of expectation and/or move to a position according to the topology expected.Particularly, navigation system can use height wind data to determine to make the Height Adjustment of the position delivery balloon of wind in a desired direction and/or to expectation.Height control system can adjust the density in balloon chamber subsequently to realize determined Height Adjustment and to make balloon move laterally to the direction of expectation and/or the position of expectation.Alternatively, Height Adjustment can be calculated by continental rise control system or satellite-based control system and is communicated to aerostat.In other embodiments, the specific balloon in heterogeneous balloon network can be configured to as the adjustment of other balloon computed altitude and send adjustment order to these other balloons.

As shown in the figure, balloon 300 also comprises incision equipment 308.Incision equipment 308 can be configured such that at least payload 306 is landed.

In certain embodiments, incision equipment 308 can comprise at least one rope payload 306 being connected to air bag 302, such as balloon rope, and the means (such as, cutting mechanism or blasting bolt) for cutting off this rope.In the exemplary embodiment, can be wrapped for the balloon rope of nylon with nichrome wire.The signal of telecommunication can be made through this nichrome wire to heat it and to melt this rope, thus payload 306 is cut off from air bag 302.

Incision equipment 308 can receive control command from control system, and this control system can determine that such as balloon 300 is in presumptive area, and this presumptive area can relate to exclusion area and/or shadow region.In response to this control command, incision equipment 308 can make electric current through this nichrome wire thus the balloon rope cut off between payload 306 and air bag 302.In other words, if determine that balloon is in presumptive area, then control system can make incision equipment 308 payload 306 be cut off from air bag 302.Payload 306 is separated with air bag 302 by incision equipment 308 other to trigger be possible.

In other embodiments, incision equipment 308 can comprise the means that the buoyancy for reducing air bag can land to make payload 306 together with air bag 302.The buoyancy reducing air bag can variously perform.Such as, the volume by reducing the lift gas in air bag makes air bag deflation.In one embodiment, pump can be used to reduce the volume of the lift gas in air bag.In another embodiment, incision equipment 308 can operate balloon perforation or tear lift gas can be overflowed gradually.In another embodiment, incision equipment 308 can operate and to make lift gas leave air bag, air bag can be vented by turning air-bag fully.

In another example, ballast can be added to air bag to reduce the buoyancy of air bag.Such as, can use pump in air bag, introduce air or other gas, thus reduce the buoyancy of air bag.Incision equipment 308 can alternatively or extraly use other means in response to balloon 300 enters presumptive area, at least payload 306 to be landed.

If such as need to access payload on the ground such as to be removed from balloon network by balloon 300, when the system in payload 306 should be safeguarded and/or when power supply 326 needs be re-charged electricity or change, incision equipment 308 can operate.

In replaceable layout, balloon does not need to comprise incision equipment 308.In this arrangement, when balloon to be removed and/or needed to access balloon on the ground by needs from network, navigation system can operate and balloon is navigate to landing position.In addition, likely balloon can be self-centered, thus does not need to access it on the ground.In other embodiments, can by specifically serve balloon or in addition the service air device of type or servicing aircraft to overhaul aloft balloon.

2e) example heterogeneous network

In certain embodiments, aerostat network can comprise via optical link and the supernode balloon that communicates with one another, and via the child node balloon of RF link and supernode balloon communication.Usually, the optical link between supernode balloon can be configured to the RF link had than between supernode balloon and child node balloon and have larger bandwidth.Like this, supernode balloon can serve as the backbone of balloon network, and child node can provide subnet, and these subnets provide the access of balloon network and/or balloon network is connected to other network.

Fig. 4 is the simplified block diagram illustrating the balloon network comprising supernode and child node according to example embodiment.More specifically, Fig. 4 illustrates a part for the balloon network 400 comprising supernode balloon 410A to 410C (also can be referred to as " supernode ") and child node balloon 420 (also can be referred to as " child node ").

Each supernode balloon 410A to 410C can comprise the free-space optical communication system that can be used to and communicate with the packet data of other supernode balloon.Like this, supernode by optical link with communicate with one another.Such as, in the illustrated embodiment in which, supernode 410A and supernode 401B by optical link 402 with communicate with one another, and supernode 410A and supernode 401C by optical link 404 with communicate with one another.

Each child node balloon 420 can comprise radio frequency (RF) communication system that can be used to and communicated by the packet data of one or more RF air interface.Therefore, each supernode balloon 410A to 410C can comprise the RF communication system that can operate and packet data is routed to one or more neighbouring child node balloon 420.When child node 420 receives packet data from supernode 410, child node 420 can use its RF communication system, via RF air interface, packet data is routed to the continental rise station 430.

As above, supernode 410A to 410C both can be arranged to the optical communication with the longer distance of other supernode, can be arranged to again and communicate with more short-range RF of neighbouring child node 420.Such as, supernode 410A to 410C can use high power or superbright LED to come to send light signal by extensible 100 miles of optical links 402,404 so grown or may be longer.The supernode 410A to 410C of such configuration can carry out the optical communication of the data rate of 10 to 50 gigabit/sec or more.

Then more aerostat can be configured to child node, and these child nodes can communicate with continental rise internet node with the data rate of about 10 mbit.Such as, in illustrated implementation, child node 420 can be configured to supernode 410 is connected to other network and/or be directly connected to client device.

Note, the data speed that in above example and this paper other places describe and link range provide to illustrate, and should not be considered to restrictive; Other data speed and link range are possible.

In certain embodiments, supernode 410A to 410C can serve as core network, and child node 420 serves as one or more access networks of core network.In such an embodiment, some or all in child node 420 also can serve as the gateway of balloon network 400.Extraly or alternatively, some or all in the continental rise station 430 can serve as the gateway of balloon network 400.

In context of the present disclosure, any example system described herein can operate to determine the position of balloon relative to presumptive area, and this presumptive area comprises exclusion area and shadow region.Example system can extraly in response to determining that the position of balloon makes incision equipment make at least payload of balloon land in this presumptive area.Hereafter be described in more detail the sample implementation that several are concrete.

3. sample implementation

In this article several sample implementation will be described now.Will be understood that have and permitted various ways to realize equipment disclosed herein, system and method.Therefore, following example is not intended to limit the scope of the present disclosure.

Fig. 5 A and Fig. 5 B respectively illustrates at the vertical view of the balloon operation scenario 500 of the very first time and front view.In scene 500, balloon 502 can suffer history wind or prevailling wind 504.Balloon 502 can above water body 510.In other embodiments, balloon 502 does not need above water body 510.

Exclusion area 508 can comprise the spatial domain above restricted area 514.As shown in the figure, restricted area 514 is land areas.In other example, restricted area can comprise water body.Based on history wind or prevailling wind 504, shadow region 506 can be defined as and substantially westwards extend from exclusion area 508.Shadow region 506 can comprise one group of position, and from this group position, the possibility that balloon 502 enters exclusion area 508 is greater than predetermined possibility.Other places describe the various method on the border for determining shadow region 506 in the disclosure.

The respective border in shadow region 506 and/or exclusion area 508 can based on height.Such as, because wind speed and direction can be different based on height, so the border in shadow region also can be different based on height.Thus, as as shown in the combination of Fig. 5 A and Fig. 5 B, one or more borders in shadow region can comprise " inclination " district, and the rise/fall/traversal rate of the height wind data of change, balloon 502 and/or parachute glide path 531 can be taken into account by these " inclination " districts.Other of shadow region 506 depends on that the border of height is possible.

The border in shadow region 506 dynamically can be determined based on the border of such as exclusion area 508, expection environmental aspect and/or the present speed of balloon 502 and direction of advance.In other embodiments, the border in shadow region 506 can be static and can based on the border of exclusion area 508 and history wind data.In other embodiments, at least one border in shadow region 506 can keep static (such as, minimum and maximum balloon operation height), and other border in shadow region 506 can adjust based on real time information.The alternate manner on the border determined and/or define shadow region 506 is possible.

The combination in exclusion area 508 and shadow region 506 can represent presumptive area.Control system in balloon 502 can determine the position of balloon relative to presumptive area.It is outside that control system alternatively partially or completely can be positioned at balloon 502.

Fig. 5 C illustrates the balloon operation scenario 520 in the second time.Second time can represent the time point being later than the very first time.Second time can illustrate control system determination balloon in presumptive area after time point.In this scene 520, balloon 522 may cross the border in shadow region 526, thus moves in presumptive area.

In response to determining that balloon is in presumptive area, control system can make incision equipment payload 524 be separated with air bag 522.Such as, the signal of telecommunication can be conveyed through the metal wire of next-door neighbour's balloon rope by control system, and air bag 522 can be connected to payload 524 by this balloon rope.The metal wire can be made up of nichrome can be configured in response to the signal of telecommunication evolution of heat.Balloon rope can disconnect due to the heat sent and payload 524 can be separated with air bag 522.

After air bag/payload is separated, parachute 530 parachute-opening can be made so that the decline of the payload 524 that slows down.After parachute 530 parachute-opening, payload 524 can drop to recovery zone 528 via parachute glide path 531 by gravity.

In certain embodiments, parachute 530 can manipulate, to manipulate payload 524 towards recovery zone 528.The computer system of payload 524 or another computer system (such as, server network) can operate to manipulate parachute 530 towards recovery zone 528.In the exemplary embodiment, parachute 530 can represent ram-air parafoil type parachute.In context of the present disclosure, the parachute of other type is possible, such as Rogallo wing parachute, circular parachute and cross (square) parachute.

Fig. 5 C illustrates and enters being separated of the payload 524 in shadow region 526 and the air bag 522 of balloon in response to balloon; But, in context of the present disclosure, make the alternate manner that at least payload 524 is landed be possible.Such as, incision equipment can operate to reduce the buoyancy (such as, by adding ballast and/or discharging lift gas) of air bag 522 to make balloon land.

Fig. 5 D illustrates scene 532, and wherein exclusion area 536 and 538 is defined by maximum height (ceiling) 516 and/or minimum constructive height (hard deck) 518.These minimum and maximum height can retrain or limit the operation height of balloon 534.This minimum and maximum height can be established to improve public safety, balloon life-span, operating characteristics and running cost, and other reason.

The exclusion area 536 and 538 relevant with maximum height 516 and/or minimum constructive height 518 can comprise shadow region 540 and 542, and shadow region 540 and 542 can comprise as upper/lower positions: from these positions, and balloon 534 likely enters one of exclusion area 536 or 538.Shadow region can be determined based on the position of history/prevailling wind 504 and balloon 534, speed and direction of advance.

The height of definition shadow region and/or exclusion area can be depending on ground location, as shown in fig. 5d.In other embodiments, the height defining shadow region and/or exclusion area can have nothing to do with ground location substantially.

If determine the position of balloon 534 in presumptive area (in this scene this presumptive area can to comprise in shadow region 540 and above spatial domain and shadow region 542 in and the spatial domain of below), then incision equipment can be used to land to make at least payload of balloon 534.

In certain embodiments, this presumptive area can based on geography information (such as, depending on height completely or substantially).Such as, this presumptive area can be any height of less than 50,000 foot.In other embodiments, this presumptive area can partially or completely based on geography information.Such as, this presumptive area can be any height of less than 55,000 foot above the U.S., and this presumptive area can be any height of less than 50,000 foot in other each place.The alternate manner on the border of definition presumptive area is possible.

In certain embodiments, the exclusion area defined by restricted area and shadow region (such as, can combine (such as, as shown in fig. 5d) with by the exclusion area highly defined and shadow region as illustrated in Figures 5 A-5 C).

4. exemplary method

Provide a kind of method 600, in response to determining that the position of balloon makes the incision equipment of balloon make at least payload of balloon land in the presumptive area comprising exclusion area and shadow region.The method can utilize any device that is shown with reference to figure 1-4 and that describe to perform, but other also can be used to configure.Fig. 6 A illustrates the step in exemplary method, but be appreciated that in other embodiments, these steps can occur by different orders and can add or reduce step.

Step 602 comprises determines the position of balloon relative to presumptive area.This presumptive area comprises exclusion area and shadow region.Balloon comprises incision equipment, payload and air bag.

Can by the next position relative to presumptive area determination balloon of several different mode.Such as, balloon can utilize global positioning system (GPS), inertial navigation system (INS) and/or map to determine the position of balloon.In other embodiments, can partially or completely be performed by server network the determination of balloon relative to the position of presumptive area.

Map at least can comprise the geography information about this presumptive area.The information of other form can be comprised, such as minimum and maximum limitation in height, exclusion area, shadow region and/or history or expection environmental aspect (such as, wind speed and direction) in map.Map also can comprise out of Memory.The computer system of balloon (such as, computer system 312) can be utilized to associate and/or store map.Alternatively, map can utilize other computer system wholly or in part, and---such as server network---stores.

Presumptive area can comprise at least two parts.

The first, exclusion area can represent the restriction spatial domain of any type that balloon should not enter.Such as, exclusion area can comprise height maxima and/or minimum value (hard deck).The height that height maxima can be expressed as follows: in this elevation-over, balloon can become can not operate, invalid and/or have the danger of blast.The height that height minima can be expressed as follows: below this height, balloon can invalid, can not operate, with ground object collision or in business spatial domain.Also height minima and maximum can be established based on other general principle.In other embodiments, exclusion area can comprise spatial domain above restricted area (such as, air base, high-rise etc.), restricted area, foreign country, residential area or other undesirable flight range any.In other embodiments, what exclusion area can comprise spatial domain encloses volume.Such as, the enclosing volume and can represent spatial domain volume around the object that the object of course line or such as aircraft and so on or other needs any are avoided of spatial domain.Other example of exclusion area is possible.

The second, shadow region can be expressed as follows position; Based on expection environmental aspect, balloon enters exclusion area possibility from this position is greater than predetermined possibility.The border in shadow region can based on current or history wind direction and/or wind speed.Such as, if prevailing wind direction be from west, 5 mph., then shadow region can extend from exclusion area to west substantially.Particularly, shadow region can be defined as next group position: based on prevailling wind, balloon enters exclusion area possibility from these positions is greater than predetermined possibility (such as, 50% probability).That is, the border in shadow region can be defined as comprising as upper/lower positions: the possibility that balloon moves to exclusion area from these positions is greater than 50%.

Expection environmental aspect can be determined by the computer system in balloon and/or other places.Expection environmental aspect can based on such as about the real time sensor data of wind speed, wind direction and other environmental information.In other embodiments, expect that environmental aspect can based on weather forecast and/or history wind data.In other embodiments, other balloon in aerostat network can be passed on about the information of its respective local environment.At least can determine to expect environmental aspect based on the information from other balloon.The alternate manner obtained about the information of expection environmental aspect is possible.

Balloon can move in exclusion area due to such as prevailling wind.In one embodiment, balloon can be blown in exclusion area.Other embodiment is possible.

Balloon enters exclusion area possibility based on expection environmental aspect can be determined by the computer system of on balloon or other places (such as, server network).This determines to comprise various emulation, and these emulation can comprise expection environmental aspect, the current location of the border of exclusion area and balloon, speed and/or direction of advance.Such as, computer system can run multiple Monte-Carlo Simulation to predict that balloon enters the possibility of exclusion area.Other computerized algorithm that estimation balloon enters the possibility of exclusion area is possible.

Determine based on this, computer system can provide thermal map, and this hot figure representation balloon enters the possibility of exclusion area from the set point three dimensions.Based on this thermal map, shadow region can be determined.Such as, shadow region can comprise in thermal map with balloon by enter exclusion area at least 50% predetermined possibility corresponding institute a little.Other predetermined possibility is possible with the mode on the border determining shadow region.

Step 604 comprises in response to determining that the position of balloon makes incision equipment make at least payload of balloon land in presumptive area.This incision equipment can be similar to incision equipment 308.

As described herein, incision equipment can carry the signal of telecommunication---such as electric current---through being wound around the nichrome wire of balloon rope.When conducting this electric current, nichrome wire can the evolution of heat.In response to the heat sent, balloon rope can be configured to melt and disconnect.This can make payload be separated with air bag.

In other embodiments, incision equipment can operate to utilize other means that at least payload of balloon is landed.Such as, aforementioned heating means can be used for making air bag explode, form hole and/or air bag is torn in air bag.Also can use except heating method (such as, cutting, perforation, wearing and tearing, etc.).Thus, in certain embodiments, air bag can be made to land together with the payload of balloon, to improve publilc health and safety, and obtain other benefit.

After making at least payload landing, payload can make the Parachute Opening being configured to the fall off rate controlling payload.This parachute also can be configured to manipulation payload towards recovery zone.Behind arrival recovery zone, payload---and in some cases whole balloon---can be recovered.

As depicted in figure 6b, provide another kind of method 610, for determining the situation of the balloon comprising incision equipment, payload and air bag, and utilize incision equipment that at least payload is landed in response to determining the situation of balloon to mate at least one in multiple predetermined state.The method can utilize any device that is shown with reference to figure 1-4 and that describe to perform, but other can be used to configure.Fig. 6 B illustrates the step in exemplary method, but be appreciated that in other embodiments, these steps can occur by different orders and can add or reduce step.

Method step 612 comprises the situation determining balloon.Balloon comprises incision equipment, payload and air bag.In certain embodiments, balloon can be same or similar with the balloon 300 such as described with reference to figure 3.Balloon can be a part for aerostat network.

Determine that the situation of balloon can comprise the information using sensing data or other data to determine about the position of balloon, direction of advance and/or speed.Determine that the situation of balloon can comprise the information obtained about the mode of operation of the various hardware and softwares be associated with balloon extraly or alternatively.In addition, determine that the situation of balloon can represent the information obtained about current and/or weather history situation, spatial domain license, current event, other flying body etc.

Method step 614 comprises in response to determining the situation of balloon to mate with at least one in multiple predetermined state and utilizes incision equipment that at least payload is landed.

Multiple predetermined state can represent following situation and/or the state of arbitrary number: these situations and/or state can make to allow payload land to be desirable/or favourable.Such as, multiple predetermined state can comprise at least one in the following: hardware fault, software fault, battery electric quantity are low, balloon is positioned at presumptive area (such as, as above to as described in Fig. 5 A-5D) and uncertain to the position of balloon.Other predetermined state can be possible.

After determining the situation of balloon, together with being positioned at balloon or the computer system being positioned at other places (such as, server network) whether there is coupling between can be configured to determine in the situation and multiple predetermined state of balloon one or more.In response to determining coupling, instruction can be sent to incision equipment to make at least payload land.

Utilize incision equipment that at least payload is landed can comprise as made payload be separated with air bag as described in other places in the disclosure.Alternatively, incision equipment can operate to make air bag and payload substantially together with drop to ground.Such as, incision equipment can introduce hole (such as, by heating air bag or cutting) in air bag.In another example, incision equipment can add ballast to air bag, thus reduces the buoyancy of air bag.Imply herein and consider in response to determining the situation of balloon to mate with at least one in multiple predetermined state and make other means that at least payload is landed.

Exemplary method, the method 600 of such as Fig. 6 A and/or the method 610 of Fig. 6 B, can completely or partially be performed by one or more balloon and respective subsystem thereof.Therefore, exemplary method can be used as example in this article and is described to be realized by balloon.But, should be appreciated that exemplary method can completely or partially be realized by other computing equipment.Such as, exemplary method can completely or partially realize by from balloon or from the server system of other places reception data.Can other example of the computing equipment of realization example method or the combination of computing equipment be possible.

It will be understood to those of skill in the art that, there is the method that other is similar, it can describe determines balloon relative to comprising exclusion area and the position of the presumptive area in shadow region, and in response to determining that the position of balloon makes incision equipment make at least payload land in this presumptive area.Extraly, the similar approach about following steps can be had: the situation determining the balloon comprising incision equipment, payload and air bag, and utilize in response to determining the situation of balloon to mate at least one in multiple predetermined state incision equipment that at least payload is landed.Those similar methods are implicit to be in this article susceptible to.

In certain embodiments, disclosed method can be embodied as the computer program instructions being coded in non-transitory computer readable storage medium with machine readable format or on other non-state medium or goods.Fig. 7 illustrates the schematic diagram comprising the conceptual partial view of the exemplary computer program product of the computer program for performing computer procedures on the computing device arranged according at least some embodiment provided herein.

In one embodiment, utilize signal bearing medium 702 to provide exemplary computer program product 700.Signal bearing medium 702 can comprise one or more programming instruction 704, and these programming instructions 704 can provide above about the function of Fig. 1-6 description or the part of function when being performed by one or more processor.In some instances, signal bearing medium 702 can comprise computer-readable medium 706, such as---but being not limited to---hard disk drive, compact disk (Compact Disc, CD), digital video disc (DigitalVideo Disk, DVD), digital magnetic tape, memory, etc.In some implementations, signal bearing medium 702 can comprise computer recordable media 708, such as---but being not limited to---memory, read/write (R/W) CD, R/W DVD, etc.In some implementations, signal bearing medium 702 can comprise communication media 710, such as---but being not limited to---numeral and/or analog communication medium (such as, optical cable, waveguide, wired communications links, wireless communication link, etc.).Thus such as, signal bearing medium 702 can be passed on by the communication media 710 of wireless.

One or more programming instruction 704 can be such as that computer can perform and/or the instruction of logic realization.In some instances, the computing equipment that the computer system 312 of such as Fig. 3 is such can be configured to be communicated to the programming instruction 704 of computer system 312 in response to by one or more in computer-readable medium 706, computer recordable media 708 and/or communication media 710 and provide various operation, function or action.

Non-transitory computer-readable medium also can be distributed between multiple data storage elements, and the position of these data storage elements can be away from each other.The computing equipment of some or all performed in the instruction stored can be a kind of equipment, the balloon 300 such as illustrating with reference to figure 3 and describe.Alternatively, the computing equipment of some or all performed in the instruction stored can be another computing equipment, such as server.

More than describe in detail and be described with reference to the various Characteristic and function of accompanying drawing to disclosed system, equipment and method.Although disclosed various aspect and embodiment herein, those skilled in the art will know other side and embodiment.Various aspect disclosed herein and embodiment are to illustrate, and do not intend to limit, and real scope and spirit are indicated by claims.

Claims (30)

1. a method, comprising:

Determine the position of balloon relative to presumptive area, wherein said presumptive area comprises exclusion area and shadow region, and wherein said balloon comprises incision equipment, payload and air bag; And

In response to determining that the position of described balloon is in described presumptive area, utilize described incision equipment that at least described payload is landed.

2. the method for claim 1, wherein making the landing of at least described payload comprise makes described payload be separated with described air bag.

3. the method for claim 1, wherein make at least described payload land and comprise the buoyancy reducing described air bag.

4. method as claimed in claim 3, wherein, the buoyancy reducing described air bag comprises to described air bag interpolation ballast.

5. method as claimed in claim 3, wherein, described air bag comprises lift gas, and wherein, the buoyancy reducing described air bag comprises discharges described lift gas at least partially.

6. the method for claim 1, wherein, determine that described balloon comprises at least one utilized in the following relative to the position of described presumptive area: the map of global positioning system (GPS), inertial navigation system (INS) and at least described presumptive area.

7. the method for claim 1, wherein described exclusion area comprises at least one in the following: restriction spatial domain, restricted area, spatial domain enclose volume, maximum height and minimum constructive height.

8. the method for claim 1, wherein described shadow region comprises as lower area: based on expection environmental aspect, described balloon enters described exclusion area possibility from this region is greater than predetermined possibility.

9. the method for claim 1, also comprises: in response to determining that the position of described balloon makes at least one Parachute Opening in described presumptive area, at least one parachute wherein said is coupled to described payload.

10. method as claimed in claim 9, also comprises: after at least one Parachute Opening described, reclaim described payload in recovery zone.

11. methods as claimed in claim 2, wherein, described balloon also comprises the metal wire of rope and contiguous described rope, wherein said rope is mechanically connected to described air bag and described payload, wherein said metal wire is configured to the evolution of heat in response to the signal of telecommunication from described incision equipment, and wherein said rope is configured to disconnect in response to the heat sent.

12. methods as claimed in claim 11, wherein, described metal wire comprises nichrome material.

13. 1 kinds of balloons, comprising:

Air bag;

Payload;

Incision equipment, is configured such that at least described payload is landed; And

Control system, is configured to: i) determine the position of described balloon relative to presumptive area, wherein said presumptive area comprises exclusion area and shadow region; And ii) in response to determining that the position of described balloon is in described presumptive area, make described incision equipment that at least described payload is landed.

14. balloons as claimed in claim 13, wherein, described incision equipment is also configured to described payload is separated with described air bag.

15. balloons as claimed in claim 13, wherein, described control system is also configured to the buoyancy reducing described air bag.

16. balloons as claimed in claim 15, wherein, described control system is also configured to add ballast to reduce the buoyancy of described air bag to described air bag.

17. balloons as claimed in claim 15, wherein, described air bag comprises lift gas, wherein said control system be also configured to discharge described lift gas at least partially to reduce the buoyancy of described air bag.

18. balloons as claimed in claim 13, wherein, described control system is configured to utilize at least one in the following to determine the position of described balloon relative to described presumptive area: the map of global positioning system (GPS), inertial navigation system (INS) and at least described presumptive area.

19. balloons as claimed in claim 13, wherein, described exclusion area comprises at least one in the following: restriction spatial domain, restricted area, spatial domain enclose volume, maximum height and minimum constructive height.

20. balloons as claimed in claim 13, wherein, described shadow region comprises as lower area: based on expection environmental aspect, described balloon enters described exclusion area possibility from this region is greater than predetermined possibility.

21. balloons as claimed in claim 14, also comprise the metal wire of rope and contiguous described rope, wherein said rope is mechanically connected to described air bag and described payload, wherein said metal wire is configured to the evolution of heat in response to the signal of telecommunication from described incision equipment, and wherein said rope is configured to disconnect in response to the heat sent.

22. balloons as claimed in claim 21, wherein, described metal wire comprises nichrome material.

23. balloons as claimed in claim 13, also comprise at least one parachute being coupled to described payload, and at least one parachute wherein said is configured in response to determining the parachute-opening in described presumptive area of the position of described balloon.

24. 1 kinds of non-transitory computer-readable medium, wherein store instruction, and described instruction can be performed by computer system and make this computer system n-back test, and described function comprises:

Determine the position of balloon relative to presumptive area, wherein said presumptive area comprises exclusion area and shadow region, and wherein said balloon comprises incision equipment, payload and air bag; And

In response to determining that the position of described balloon is in described presumptive area, utilize described incision equipment that at least described payload is landed.

25. non-transitory computer-readable medium as claimed in claim 24, wherein, determine that described balloon comprises at least one utilized in the following relative to the position of described presumptive area: the map of global positioning system (GPS), inertial navigation system (INS) and at least described presumptive area.

26. non-transitory computer-readable medium as claimed in claim 24, wherein, described exclusion area comprises at least one in the following: restriction spatial domain, restricted area, spatial domain enclose volume, maximum height and minimum constructive height.

27. non-transitory computer-readable medium as claimed in claim 24, wherein, described shadow region comprises as lower area: based on expection environmental aspect, described balloon enters described exclusion area possibility from this region is greater than predetermined possibility.

28. non-transitory computer-readable medium as claimed in claim 24, wherein, described function also comprises: in response to determining that the position of described balloon makes at least one Parachute Opening in described presumptive area, at least one parachute wherein said is coupled to described payload.

29. 1 kinds of methods, comprising:

Determine the situation of balloon, wherein said balloon comprises incision equipment, payload and air bag; And

Utilize described incision equipment that at least described payload is landed in response to determining the situation of described balloon to mate with at least one in multiple predetermined state.

30. methods as claimed in claim 29, wherein, described multiple predetermined state comprises at least one in the following: low, the described balloon of hardware fault, software fault, battery electric quantity is positioned at the uncertain of the position of presumptive area and described balloon.